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RPRT 3

The lab report focuses on using MATLAB software to compute the ARM Matrix of the Alpha-II robot using Denavit-Hartenberg (DH) parameters. It details the procedure for inputting user-defined parameters and generating the arm matrix through MATLAB code, highlighting the software's effectiveness in kinematic analysis. The findings illustrate MATLAB's capability to model dynamic robotic systems, bridging theoretical concepts with practical applications.

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Muhammad Tayyab
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17 views6 pages

RPRT 3

The lab report focuses on using MATLAB software to compute the ARM Matrix of the Alpha-II robot using Denavit-Hartenberg (DH) parameters. It details the procedure for inputting user-defined parameters and generating the arm matrix through MATLAB code, highlighting the software's effectiveness in kinematic analysis. The findings illustrate MATLAB's capability to model dynamic robotic systems, bridging theoretical concepts with practical applications.

Uploaded by

Muhammad Tayyab
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© © All Rights Reserved
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Department of Mechanical Engineering

<<ROBOTICS LAB>>

LAB No. 03
LAB Name: Introduction to MATLAB Software and Mathematical Modeling of
Arm Matrix of Alpha-II Robot

Name of Student: Nimra Nadeem


Registration No.: 04-3-1-041-2020

Lab Instructor: Sir Saim


Submitted to: Dr. Nasir Rehman
Date of Report Submission: 28/11/2023
Table of Contents
Abstract ........................................................................................................................................... 3
Introduction ..................................................................................................................................... 3
Procedure ........................................................................................................................................ 4
Code ............................................................................................................................................ 4
Output ......................................................................................................................................... 6
Discussion ....................................................................................................................................... 6
Conclusion ...................................................................................................................................... 6

List of Figures
Figure 1 Interface of MATLAB ...................................................................................................... 3
Figure 2 ARM Matrix ....................................................................................................................... 6
Abstract
The main objective of this lab was to analyze the MATLAB software and then using D-H
parameters of alpha-II robot its ARM Matrix is computed by suitable simulation through
MATLAB code. Firstly, basic commands and functions used in MATLAB were understood and
then D-H parameters were input with theta 1 to theta 5 as variable and for user’s values of these
theta, corresponding ARM Matrix was obtained for alpha-II robot.

Introduction
In the field of kinematics and robotics, it is critical to comprehend the spatial connections inside a
robotic arm. A methodical way to describe these connections and capture the geometric and
kinematic characteristics of every joint in a robot is to use the Denavit-Hartenberg (DH)
parameters. In this context, the potent numerical computing environment MATLAB becomes
indispensable, providing a solid foundation for mathematical modelling and analysis.
This lab explores the possibilities of employing user-defined DH parameters in MATLAB to
analyze robotic arm setups. Our study focuses on the calculation of the arm matrix, which is a
basic model of the arm's transition between successive joints. This technique, in contrast to static
models, introduces changing thetas, enabling real-world application and dynamic adaptation.

Figure 1 Interface of MATLAB


Procedure
 First understand basic functions in MATLAB.
 Write code with input as D-H parameters and thetas as variables by defining them initially.
 After writing code for ARM Matrix run the code and see results as follows:

Code
%Define D-H parameters for all links
a= input ('th1:');
b= input ('th2:');
c= input ('th3:');
d= input ('th4:');
e= input ('th5:');
%Define for link 1
d1=215.0; %joint distance in (mm)
a1=0; %link length in (mm)
alpha1=-90*pi/180; %twist angle in (degrees)

%Define for link 2


d2=0; %joint distance in (mm)
a2=177.8; %link length in (mm)
alpha2=0; %twist angle in (degrees)

%Define for link 3


d3=0; %joint distance in (mm)
a3=177.8; %link length in (mm)
alpha3=0; %twist angle in (degrees)

%Define for link 4


d4=0; %joint distance in (mm)
a4=0; %link length in (mm)
alpha4=-90*pi/180; %twist angle in (degrees)

%Define for link 5


d5=129.5; %joint distance in (mm)
a5=0; %link length in (mm)
alpha5=0; %twist angle in (degrees)

%Transformation Matrices
T01=[cos(th1), -cos(alpha1)*sin(th1), sin(alpha1)*sin(th1), a1*cos(th1);
sin(th1), cos(alpha1)*cos(th1), -sin(alpha1)*cos(th1), a1*sin(th1);
0, sin(alpha1), cos(alpha1), d1; 0, 0, 0, 1];

T12=[cos(th2), -cos(alpha2)*sin(th2), sin(alpha2)*sin(th2), a2*cos(th2);


sin(th2), cos(alpha2)*cos(th2), -sin(alpha2)*cos(th2), a2*sin(th2);
0, sin(alpha2), cos(alpha2), d2; 0, 0, 0, 1];

T23=[cos(th3), -cos(alpha3)*sin(th3), sin(alpha3)*sin(th3), a2*cos(th3);


sin(th3), cos(alpha3)*cos(th3), -sin(alpha3)*cos(th3), a2*sin(th3);
0, sin(alpha3), cos(alpha3), d3; 0, 0, 0, 1];

T34=[cos(th4), -cos(alpha4)*sin(th4), sin(alpha4)*sin(th4), a4*cos(th4);


sin(th4), cos(alpha4)*cos(th4), -sin(alpha4)*cos(th4), a4*sin(th4);
0, sin(alpha4), cos(alpha4), d4; 0, 0, 0, 1];

T45=[cos(th5), -cos(alpha5)*sin(th5), sin(alpha5)*sin(th5), a5*cos(th5);


sin(th5), cos(alpha5)*cos(th5), -sin(alpha5)*cos(th5), a5*sin(th5);
0, sin(alpha5), cos(alpha5), d5; 0, 0, 0, 1];
%Define multiplication of all matrices
T05=T01*T12*T23*T34*T45;

Output

Figure 2 ARM Matrix

Discussion
The investigation of MATLAB as a tool for the analysis of user-defined Denavit-Hartenberg (DH)
parameters in robotic arm configurations has demonstrated its ability to handle intricate kinematic
calculations. We successfully generated the arm matrix using MATLAB code, which included the
variable thetas to represent dynamic joint angles. Because of its versatile syntax and matrix
manipulation features, MATLAB is a useful tool for modelling a wide range of robotic systems,
including those with different DH parameter sets.
The code's performance demonstrated how well MATLAB can convert theoretical DH parameters
into useful applications, facilitating the smooth transition between mathematical representation
and actual robotic arm scenarios. Variable thetas' dynamic nature offers a more realistic modelling
method, allowing for the investigation of various arm configurations and a more thorough
comprehension of the system behavior.

Conclusion
To sum up, MATLAB is an effective and adaptable tool for assessing and simulating the
kinematics of robotic arms, especially when working with user-defined DH parameters and
changing thetas. Its effectiveness in bridging the gap between theoretical notions and real-world
applications in the field of robotics is demonstrated by the successful derivation of the arm matrix
using MATLAB code. This work contributes to our understanding of MATLAB's kinematic
analysis capabilities and offers an invaluable tool for engineers and researchers who want to apply
DH parameters to real-world robotic systems with varying joint angles.

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